EP1712969A2 - Dispositif pour corriger le programme d'un robot - Google Patents

Dispositif pour corriger le programme d'un robot Download PDF

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Publication number
EP1712969A2
EP1712969A2 EP06006837A EP06006837A EP1712969A2 EP 1712969 A2 EP1712969 A2 EP 1712969A2 EP 06006837 A EP06006837 A EP 06006837A EP 06006837 A EP06006837 A EP 06006837A EP 1712969 A2 EP1712969 A2 EP 1712969A2
Authority
EP
European Patent Office
Prior art keywords
robot
touchup
line
program
computing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP06006837A
Other languages
German (de)
English (en)
Other versions
EP1712969A3 (fr
EP1712969B1 (fr
Inventor
Atsushi Watanabe
Yoshiharu Nagatsuka
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of EP1712969A2 publication Critical patent/EP1712969A2/fr
Publication of EP1712969A3 publication Critical patent/EP1712969A3/fr
Application granted granted Critical
Publication of EP1712969B1 publication Critical patent/EP1712969B1/fr
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/4202—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model
    • G05B19/4207—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model in which a model is traced or scanned and corresponding data recorded
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4083—Adapting programme, configuration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36416—Adapt teached position as function of deviation 3-D, 2-D position of end effector, tool
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37079—Display probing result on drawing taken from cad data
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39012—Calibrate arm during scanning operation for identification of object
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present invention relates to a robot program correcting apparatus and, more particularly, to a robot program correcting apparatus for correcting a robot operation program, created off-line, to make it match the actual working position in the field.
  • Jogging the robot means moving the robot in order to teach it the actual working position.
  • a robot program correcting apparatus which displays three-dimensional models of a robot and a workpiece simultaneously on a screen of a display apparatus, and corrects an operation program for the robot, comprising: a difference computing unit computing a difference between at least either a line or a surface computed from touchup points and at least either a line or a surface computed from points representing a working position specified on the screen; and a correcting unit correcting the robot operation program by computing the amount of correction based on the difference.
  • a difference computing unit computing a difference between at least either a line or a surface computed from touchup points and at least either a line or a surface computed from points representing a working position specified on the screen
  • difference computing unit computing a difference between at least either the line or surface computed from the touchup points and at least either the line or surface computed from the points representing the retrieved working position
  • the robot program correcting apparatus further comprises: an operation program storing unit storing a plurality of robot operation programs by generating the programs based on positions of the robot and the workpiece arranged on the screen; and a working position specifying unit specifying on the screen a working position at which the robot works on the workpiece arranged on the screen.
  • the curve and the curved surface are a spline curve and a spline surface, respectively.
  • the amount of correction for the operation program is obtained by correcting a mechanism model of the robot based on the difference.
  • the mechanism model of the robot is a D-H parameter.
  • a spline curve or a spline surface is created from the working position on the correcting apparatus, and further, a spline curve or a spline surface is created by touching the corresponding touchup points in the field.
  • FIG. 1 is a block diagram showing the configuration of a system which includes a robot program correcting apparatus according to the present invention.
  • reference numeral 11 is a computer such as a personal computer
  • 12 is a display apparatus connected to the computer
  • 13 is an input means connected to the computer and implemented by a keyboard, mouse, etc.
  • reference numeral 14 is a controller for controlling the operation of a robot 16 by a robot operation program stored in the computer
  • 15 is a teaching apparatus for teaching the robot its working position via the controller 14 and for installing the robot operation program on the computer
  • 16 is the robot which is controlled by the controller
  • 17 is a workpiece which is worked on and moved by the robot 16.
  • the robot program correcting apparatus according to the present invention is implemented by the computer 11.
  • the teaching apparatus 15 is a portable terminal that an operator uses to specify the operating position and the motion of the robot 16 while viewing the actual motion of the robot or the image of the robot displayed on the screen of the display apparatus 12.
  • FIG. 2 is a functional block diagram showing the configuration of a robot program correcting apparatus according to a first embodiment of the present invention.
  • reference numeral 20 indicates the robot program correcting apparatus connected to the display apparatus 12.
  • the robot program correcting apparatus 20 is implemented by the computer 11, etc.
  • the robot program correcting apparatus 20 displays three-dimensional models of the robot and the workpiece simultaneously on the screen of the display apparatus 12, and corrects the robot operation program.
  • the robot program correcting apparatus 20 comprises: a touchup position storing means 21 for storing, as a plurality of points, an actual position located on the workpiece by actually operating the robot to touch the actual position on the workpiece that corresponds to the working position specified on the screen; a touchup line or touchup surface computing means 22 for computing at least either a line or a surface based on the plurality of touchup points; a working position storing means 23 for storing, as a plurality of points, position information concerning the working position on the workpiece displayed on the screen; a robot operation program retrieving means 24 for retrieving the robot operation program based on the plurality of points stored in the working position storing means 23; a working position line or surface computing means 25 for computing at least either a line or a surface based on a plurality of working positions designated by the robot operation program; a difference computing means 26 for computing the difference between at least either the line or surface computed from the touchup points and at least either the line or surface computed from the points representing the working position specified on the screen;
  • Figure 3 is a functional block diagram showing the configuration of a robot program correcting apparatus according tn a second embodiment of the present invention.
  • the difference from Figure 2 is that, while the working position acquiring means 23 in Figure 2 acquires as a plurality of points the position information concerning the working position on the workpiece displayed on the screen, the apparatus of Figure 3 comprises a means 31 for retrieving, based on the touchup position effected by the actual robot, its associated robot operation program and working position, and a working position line or surface computing means 32 for computing at least either a line or a surface based on the robot operation program and working position thus retrieved.
  • Figure 4 is a block diagram showing the detailed configuration of the robot program correcting apparatus and the robot controller 14 according to the first and second embodiments.
  • the program correcting apparatus 40 is included in the computer 11.
  • the program correcting apparatus 40 comprises a layout creating block 401, a work data loading block 402, an operation program creating block 403, an operation program retrieving block 404 for retrieving the operation program from the working position in the first embodiment or a retrieving block 405 for retrieving the robot operation program and working position based on the touchup points in the second embodiment, and a program correcting block 406.
  • the computer 11 further includes a work data storing block 407 for storing data concerning the workpiece 17, a robot program measuring position storing block 408, a working position storing block 409, a touchup position storing block 410, a corrected robot program storing block 411, and a correcting software basic functional block 412.
  • the program correcting apparatus 40 is plugged into the correcting software basic functional block 412.
  • the robot controller 14 comprises a robot program loading block 413 for loading the robot program corresponding to the measuring position stored in the robot program measuring position storing block 408, a jog functional block 414 for jogging the robot in accordance with the thus loaded program, a touchup functional block 415 for teaching the touchup position on the work to the touchup position storing block 410, a robot program loading block 416 for loading the corrected robot program, and an executing block 417 for executing the corrected robot program thus loaded.
  • a robot program loading block 413 for loading the robot program corresponding to the measuring position stored in the robot program measuring position storing block 408, a jog functional block 414 for jogging the robot in accordance with the thus loaded program, a touchup functional block 415 for teaching the touchup position on the work to the touchup position storing block 410, a robot program loading block 416 for loading the corrected robot program, and an executing block 417 for executing the corrected robot program thus loaded.
  • the touchup position storing means 21 in Figures 2 and 3 corresponds to the touchup position storing block 410 in Figure 4.
  • the working position storing means 23 in Figure 2 corresponds to the working position storing block 409 in Figure 4.
  • the robot operation program retrieving means 24 in Figure 2 corresponds to the operation program retrieving block 404 in Figure 4.
  • the robot operation program and working position retrieving means 31 in Figure 3 corresponds to the retrieving block 405 in Figure 4.
  • the touchup line or touchup surface computing means 22, the difference computing means 26, and the correcting means 27 in Figure 2 and the working position line or the surface computing means 32, the difference computing means 33, and the correcting means 34 in Figure 3 together correspond to the program correcting block 406 in Figure 4.
  • FIG 5 is a flowchart for explaining the operation of the robot program correcting apparatus according to the first embodiment shown in Figure 4.
  • the layout creating block 401 in step S51 creates a layout by arranging three-dimensional data of the robot 16, the workpiece 17 and, if needed, any peripheral device (not shown) on the screen of the display apparatus 12. Work data relating to the image of the workpiece thus arranged is loaded into the working data loading block 402 from the work data storing block 407.
  • step S52 a plurality of robot operation programs for the images of the robot and the workpiece arranged on the screen of the display apparatus 12 are created using known techniques.
  • step S53 using the teaching apparatus 15, the operator specifies a working position on the images of the workpiece and the robot displayed on the screen of the display apparatus 12. This can be accomplished by a number of methods, for example, by moving a cursor to the working position by a mouse and clicking on it, or by displaying all working positions on the screen and making a selection from them.
  • the specified working position is stored in the working position storing means 23 (working position storing block 409).
  • step S54 the robot operation program closest to the working position specified in step S53 is retrieved by searching through the robot operation programs created in step S52.
  • step S55 the actual robot 16 is operated to touch the position on the actual workpiece 17 corresponding to the specified working position, and the touchup position is stored in the actual work position storing means 21 (touchup position storing block 410).
  • step S56 the line or surface of the working position stored in the working position storing means 23 (working position storing block 409) and displayed on the screen and the line or surface of the touchup points stored in the touchup position storing means 21 (touchup position storing block 410) are computed by the working position line or surface computing means 25 and the touchup line or touchup surface computing means 22, respectively, and the difference between them is computed by the difference computing means 26; then, the robot operation program retrieved in step 554 is corrected based on the difference.
  • Figure 6 is a flowchart for explaining the operation of the robot program correcting apparatus according to the second embodiment shown in Figure 4.
  • the difference from the flowchart of Figure 5 is that while, in Figure 5, the robot operation program is retrieved in step S54 based on the working position on the screen, in Figure 6 the robot operation program and working position closest to the touchup position effected by the actual robot are retrieved in step S65; the other steps are the same as the corresponding steps in Figure 5, and the description thereof will not be repeated here.
  • Figure 7 is a diagram showing a working surface Ps displayed on the screen of the display apparatus 12 and its corresponding working surface (touchup surface) Pt touched by the actual robot 16. As shown, generally, the working surface Ps on the screen is displaced from the touchup surface Pt by a vector D. Open circles indicate teach points; since the teach points specified on the screen are displaced from the teach points taught to the actual robot, the robot operation program is corrected by the above means to compensate for the displacement.
  • a working surface Ps(u,w) is computed using a matrix Nij so that the surface becomes a spline surface as defined by the following equation.
  • the subscript s in Qsj denotes "surface” representing the three-dimensional surface position of the working surface, and j denotes an index to the working point on the working surface.
  • a touchup surface Pt(u,w) is computed so that the surface becomes a spline surface.
  • each teach point Pr(i) of the robot operation program, created on the screen is corrected as shown below in accordance with the above difference vector.
  • n, o, and a are parameters usually used in a link coordinate system in robotics to define the position and orientation of the end of a robot arm, and denote "normal”, “orient”, and “approach”, respectively.
  • D(u,w) is the difference vector obtained by the above equation, and represents the location.
  • Figure 8 is a diagram showing the relationship between the position of the robot and the position of the workpiece after the above correction. Let the position of the robot before the correction be represented by a vector R and that of the workpiece by a vector W, and assume that the working surface Ps on the screen is displaced from the touchup surface Pt by a vector D; then, the work position vector Wd after the correction is the scalar product W.D of the vector W and the vector D, as shown.
  • the D-H parameters are known parameters that are set using the Denavit-Hartenberg convention.
  • the position and orientation of the TCP (Tool Center Point) of the robot is given by the multiplication of all the link matrices.
  • the TCP is the position of the robot's end and is defined by three-dimensional coordinates.
  • TCP A1A2A3A4A5A6T
  • A (n, o, a, 1)
  • n (c ⁇ , s ⁇ , 0, 0)
  • o (-c ⁇ s ⁇ , s ⁇ c ⁇ , s ⁇ , 0)
  • a (-s ⁇ s ⁇ - s ⁇ s ⁇ , c ⁇ , 0)
  • l (Ac ⁇ , As ⁇ , s ⁇ , 1) where ldenotes the location
  • a spline curve is created by joining the points.
  • a spline curve is created by joining the points. Touchup points Ti (xi, zi, zi, wi, pi, ri) Teach points Ki (xi, yi, zi, wi, pi, ri)

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
EP06006837A 2005-04-13 2006-03-31 Dispositif pour corriger le programme d'un robot Expired - Fee Related EP1712969B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2005115841A JP4137909B2 (ja) 2005-04-13 2005-04-13 ロボットプログラム補正装置

Publications (3)

Publication Number Publication Date
EP1712969A2 true EP1712969A2 (fr) 2006-10-18
EP1712969A3 EP1712969A3 (fr) 2011-01-12
EP1712969B1 EP1712969B1 (fr) 2012-11-28

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EP06006837A Expired - Fee Related EP1712969B1 (fr) 2005-04-13 2006-03-31 Dispositif pour corriger le programme d'un robot

Country Status (4)

Country Link
US (1) US7643905B2 (fr)
EP (1) EP1712969B1 (fr)
JP (1) JP4137909B2 (fr)
CN (1) CN100476655C (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1834738A3 (fr) * 2006-03-13 2011-01-19 Fanuc Ltd Appareil et procédé de correction de position apprise
EP2835229A3 (fr) * 2013-08-09 2016-06-08 Kabushiki Kaisha Yaskawa Denki Appareil et méthode de commande d'un robot

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DE102006022483A1 (de) * 2006-05-13 2007-11-29 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Anzeigen einer Roboterbahn zur Unterstützung einer Ortsänderung eines Stützpunktes
US7979315B2 (en) * 2007-03-14 2011-07-12 Microsoft Corporation Virtual features of physical items
ES2383718T3 (es) * 2007-04-26 2012-06-25 Adept Technology Inc. Aparato de agarre por vacío
JP5386921B2 (ja) * 2008-10-09 2014-01-15 セイコーエプソン株式会社 産業用ロボットの位置教示装置、動作プログラム作成装置、産業用ロボットの位置教示方法およびプログラム
DE102008052592A1 (de) * 2008-10-21 2010-04-22 Trumpf Werkzeugmaschinen Gmbh + Co. Kg Vorrichtung und Verfahren zur Steuerung einer Bearbeitungsanlage
JP2010152550A (ja) * 2008-12-24 2010-07-08 Canon Inc 作業装置及びその校正方法
JP5282014B2 (ja) * 2009-11-18 2013-09-04 本田技研工業株式会社 教示ライン補正装置、教示ライン補正方法、及びそのプログラム
DE102010047641B4 (de) * 2010-10-06 2022-06-15 Kuka Roboter Gmbh Steuerung eines Roboters
DE102011086941B4 (de) * 2011-11-23 2016-01-21 Kuka Roboter Gmbh Industrieroboter
WO2016136816A1 (fr) * 2015-02-25 2016-09-01 本田技研工業株式会社 Procédé et appareil de correction de position de point
GB201509341D0 (en) 2015-05-29 2015-07-15 Cambridge Medical Robotics Ltd Characterising robot environments
US9718192B2 (en) * 2015-06-24 2017-08-01 National Taipei University Of Technology System for automatically and precisely positioning robotic arm and method thereof
JP6860843B2 (ja) * 2017-02-20 2021-04-21 株式会社安川電機 ロボットシステム、ロボット制御装置、及びロボット制御方法
US10307908B2 (en) * 2017-04-07 2019-06-04 X Development Llc Methods and systems for establishing and maintaining a pre-build relationship
JP6626065B2 (ja) * 2017-10-31 2019-12-25 ファナック株式会社 教示点又は教示線の位置ずれを警告又は修正するロボット教示装置
JP7305951B2 (ja) * 2018-12-14 2023-07-11 ニデック株式会社 キャリブレーション装置及びキャリブレーション方法

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1834738A3 (fr) * 2006-03-13 2011-01-19 Fanuc Ltd Appareil et procédé de correction de position apprise
US8121731B2 (en) 2006-03-13 2012-02-21 Fanuc Ltd Teaching position correcting apparatus and teaching position correction method
EP2835229A3 (fr) * 2013-08-09 2016-06-08 Kabushiki Kaisha Yaskawa Denki Appareil et méthode de commande d'un robot

Also Published As

Publication number Publication date
JP2006293826A (ja) 2006-10-26
CN100476655C (zh) 2009-04-08
EP1712969A3 (fr) 2011-01-12
EP1712969B1 (fr) 2012-11-28
US7643905B2 (en) 2010-01-05
JP4137909B2 (ja) 2008-08-20
US20070299557A1 (en) 2007-12-27
CN1848012A (zh) 2006-10-18

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